CN1339781A - Disc storage device - Google Patents

Abstract

In a disk storage apparatus having an actuator for loading/unloading a magnetic head with respect to a magnetic disk, a voltage signal generated when the actuator is driven is detected by a voltage detector, a speed load estimator estimates moving speed of the head and level of load disturbance added to the magnetic head from a driving signal in a driver of the actuator and the voltage signal, and outputs a speed estimating signal and a load estimating signal, a speed controller generates and outputs a speed control signal based on a speed command signal and the speed estimating signal, a synthesizer generates a driving signal from the load estimating signal and a speed control signal, and the apparatus overcomes against the load disturbance caused by friction or the like on a ramp block.

Description

Disc storage device

Technical field

The present invention relates to a disc storage device, this device has a load/unload mechanism, is used for loading a recording head as unloading a recording head as a magnetic head on a magnetic head to the recording medium disc surface or from this disc surface by an actuator.The invention still further relates to a disc storage device, be used for locating a read/write head accurately in the target trajectory of disc by an actuator.

Background technology

In a disk sheet storage arrangement, because the designer trends that reduce size and high storage density requirement are arranged, thereby read/write head just becomes very strict with respect to the pinpoint demand of target trajectory.Further, the recording density owing to increasing day by day necessitates the disc surface leveling, has a kind of method can make when read/write head does not start, and makes the read/write head sliding shoe withdraw from disc.

In a disc storage device with read/write head load/unload mechanism, a slope piece is installed in the outside of this disc as an antiskid element.When this device was stopped, a read/write head arm was diverted, with this read/write head sliding shoe be placed on the slope piece above, unload this read/write head by this.When the driving of this device began, the read/write head arm was started, and this read/write head sliding shoe is installed on the disc from the slope piece.

If the rate of loading is too fast, this read/write head sliding shoe will collide with disc, thereby disc and read/write head all are damaged.In order successfully on disc, to load read/write head, just must control the speed of read/write head on the piece of slope equably.

A voice coil motor (VCM) is used as an actuator, drives read/write head with it.When VCM rotated, the induced voltage that produces at the two ends of VCM coil was detected by a bridgt circuit, and when the detection voltage that utilizes acquisition during as a rate signal, just can realize that feedback speed controls.

On the other hand.In order to accelerate the positioning action of read/write head, and guarantee that required bearing accuracy, people believe that usually the controlled frequency of positioning control should be set higher with respect to target trajectory.Yet,, thereby the limit of the controlled frequency increase of a positioning control is just arranged because the intrinsic mechanical vibration of read-write head actuator cause positioning control system to become unstable.So, acting on the external force of this actuator by minimizing, bearing accuracy is improved.

Usually, the read/write head positioning signal that servo-information obtains from the disc and the drive signal of actuator all are transfused to the estimation external force, realize the influence of FEEDBACK CONTROL with the compensation external force by this.

Yet, though this bridgt circuit is simple in circuit structure, the influence that the loading disturbance that this bridgt circuit is easy to be subjected to being caused by friction on the piece of slope or the like changes.

If the loading disturbance that is caused by the sliding friction between read/write head sliding shoe and the slope piece alters a great deal, then the speed of read/write head sliding shoe just alters a great deal.Therefore, even realized FEEDBACK CONTROL for read/write head sliding shoe translational speed, the variation of the read/write head rate of loading also is very big, and the collision possibility of read/write head sliding shoe and disc is not still avoided.

Further, because the nearest track densification and the trend of actuator downsizing, the external force that acts on actuator more seriously affects control system, and traditional technology can not address this problem fully.

Summary of the invention

Therefore, a fundamental purpose of the present invention just provides a disc storage device, it can stabilized speed control, even and load disturbance and alter a great deal, also can successfully be loaded in a read/write head on the disc.

Another object of the present invention provides a disc storage device, and it can control the positioning action of read/write head accurately with respect to a target trajectory.

These and other objects of the present invention, advantage, feature and purposes will become more clear by the following description of most preferred embodiment of the present invention being carried out with reference to accompanying drawing.

A disc storage device of the present invention comprises: an actuator that is used for respect to a read/write head of one disc load/unload; The driver of this actuator; A voltage-level detector is used to detect the voltage that produces and exports a voltage signal when actuator is driven; Speed is loaded the estimation device, is used for estimating the translational speed of read/write head and being added to loading level of disruption on the read/write head from a drive signal of voltage-level detector and this voltage signal, and is used to export a speed estimating signal and loads estimating signal; And a speed control, be used for producing and export a speed control signal from a speed command signal and this speed estimating signal; Wherein drive signal obtains by synthetic this speed control signal and this loading estimating signal.

For the speed of the actuator of controlling the load/unload read/write head, need the translational speed of estimation read/write head.Withdraw from the loading disturbance that element applies as a slope piece in order to eliminate by read/write head, the level of disruption of loading is estimated.In the translational speed of read/write head with load level of disruption when estimated, two elements have been used.

One of them element is when actuator is driven, by a voltage signal of detecting circuit generation.Another is a drive signal in the driver of actuator.Here, the drive signal in this driver can be that a signal that is input in the driver also can be a signal of exporting from this driver.

Speed control signal can be used to replace the drive signal in this driver, and this speed control signal is a basis that produces drive signal.Provide a speed that is used to estimate the translational speed of this read/write head and load level of disruption to load the estimation device.

Load the estimation device by this speed, the voltage signal that is detected by a voltage-level detector and the drive signal (comprising speed control signal) of this driver are transfused to, and produce a speed estimating signal and one by this and load estimating signal.Estimate the loading level of disruption that in fact is added on the read/write head exactly based on this loading estimating signal that two elements produce.

Because the translational speed of read/write head is estimated when level of disruption is loaded in estimation, thereby the translational speed of this read/write head also can be estimated exactly.

The loading estimating signal that obtains by above-mentioned mode is synthesized and is speed control signal, and the actuator of read/write head utilizes drive signal to be driven.By this method, the loading disturbance that is added to this read/write head is eliminated well.

Further, because must there be direct correlation in this speed Be Controlled with the loading estimating signal, even read/write head withdraws from the loading disturbance variation of element is packing into/and be very greatly when unloading, speed also can be controlled with being stabilized.

That is to say, strengthened the reliability of load/unload operation.As a subsidiary effect, track density can improve in fact, thereby can realize jumbo disc storage device.

Best, this speed is loaded estimation device and is comprised: a comparer, and one is input in this comparer by the detected voltage signal of voltage-level detector; First multiplier is used for multiply by drive signal with first coefficient; Second multiplier is used for multiply by with second coefficient output of comparer; First integrator is used for the output of this comparer of integration; And second integral device, be used for following value is carried out integration, said value obtains from deduct an additive value from the output of first multiplier, described additive value obtains the output of second multiplier and the output addition of first integrator, and the wherein output of this comparer comparative voltage signal and second integrator, and the output comparative result is to second multiplier and first integrator.

In this case, the output of first multiplier of input drive signal becomes a driving torque estimating signal, and it is corresponding to the driving torque that is added to this actuator.

The output of second integrator becomes one with respect to the feedback signal of importing from the voltage signal of voltage-level detector (comparison object).The output of comparer is added to the first integrator and second multiplier, and it is the difference between voltage signal and the feedback element that comes from the second integral device.

The output of having integrated the first integrator of this difference becomes one and loads estimating signal, the loading disturbance that it obtains corresponding to actuator.

The output of multiply by second multiplier of difference value with a predetermined coefficient is added on this loading estimating signal.A difference value of additive value is deducted from the driving torque estimating signal, and is fed into the second integral device.The value that is calculated by the second integral device is used as speed estimating signal.

Therefore, come from the signal of exactly estimating loading disturbance of the loading estimating signal output of first integrator corresponding to the actuator reception.

Load estimating signal by this, realized this FEEDBACK CONTROL, such as having eliminated the loading disturbance that is added on the read/write head, and therefore can compensate and load the influence that disturbance causes.

Further, the control of speed with load estimating signal direct correlation arranged, even this loading disturbance is being packed into/altered a great deal when unloading, also can stably control this speed and raising read/write head to pack into/reliability of unloading operation.

A disc storage device of the present invention comprises: an actuator is used for respect to the disc read/write head of packing into/unload; The driver of an actuator; A voltage-level detector is used to detect the voltage that produces and exports a voltage signal when actuator is driven; A speed is loaded the estimation device, is used for estimating the translational speed and the loading level of disruption that is added on the read/write head of read/write head from a speed control signal and voltage signal, and exports a speed estimating signal and a loading estimating signal; And a speed control, be used for producing and the output speed control signal from a speed command signal and speed estimating signal, wherein the drive signal of detecting device obtains by aggregate velocity control signal and loading estimating signal.

In this case, the speed control signal that comes from speed control is imported into this speed and loads the estimation device, to substitute the drive signal of driver in the foregoing invention.

In this case, this speed is loaded the estimation device and is accurately estimated read/write head speed that moves and the loading level of disruption that is applied on the read/write head, and it is based on speed control signal and is estimated by the voltage signal that actuator detects.Remainder is with above-described the same.

In the present invention, an input using a speed control signal to load the estimation device as this speed, best, this speed is loaded the estimation device and is comprised: a comparer, wherein the detected voltage signal of voltage-level detector is imported into this comparer; First multiplier is used for multiply by speed control signal with first coefficient; Second multiplier is used for multiply by with second coefficient output of comparer; First integrator is used for the output of integration comparer; And the second integral device, be used for integration and deduct the output of second multiplier and the value that obtains from the output of first multiplier, the relatively output and the voltage signal of second integral device of comparer wherein, and output result relatively is to second multiplier and first integrator.

In this case, just needn't do the addition of the output of the output of first integrator and the second multiplier device, this is required to carry out when a defeated man-hour that the drive signal speed that is used as is loaded the estimation device in foregoing invention.Therefore, totalizer can dispense, and this just simplifies the structure.

In the superincumbent description, be more preferably, at the pent state of high-frequency component, speed is loaded the output of estimation device and is loaded estimating signal.In the superincumbent structure, produce loading estimating signal about the loading disturbance that causes by situations such as frictions by the estimation of using the secondary delay system.This secondary delay system has low-frequency band cut-off filter feature, and it has shown excellent loading Disturbance Rejection effect under natural angular frequency (estimation angular frequency).So natural angular frequency and damping factor can suitably be set, and this speed loads estimation device and so constitutes, and loads estimating signal thereby produce when the interrupted state of high-frequency component.Like this, just showed the inhibition effect of outstanding loading disturbance.

Further, a disc storage device of the present invention comprises: an actuator is used for respect to the disc read/write head of packing into/unload; The driver of an actuator; A voltage-level detector, the voltage that produces when being used to detect actuator and being driven and export a voltage signal; A speed estimator is used for from the drive signal of a detecting device and the translational speed of voltage signal estimation read/write head, and exports a speed estimating signal; And a speed control, be used for producing a speed control signal, and export as drive signal from a speed command signal and speed estimating signal.

This is a kind of very little situation of disturbance variation of loading.Thereby only make the operating speed estimating signal and need not load estimating signal and just can stablize control rate, and the raising read/write head pack into/reliability of unloading operation becomes possibility.In this case, a compositor that is used for synthetic this loading estimating signal and becomes speed control signal just needn't use, and has so just simplified the structure of this disc storage device.

This speed estimator comprises: a comparer, and wherein the detected voltage signal of voltage-level detector is imported into comparer; First multiplier multiply by drive signal with first coefficient; Second multiplier is used for multiply by with second coefficient output of comparer; First integrator is used for the output of integration comparer; And the second integral device, being used for following value is carried out integration, said value obtains from deduct an additive value from the output of first multiplier, and described additive value obtains the output of second multiplier and the output addition of first integrator; Wherein comparer compares the output and the voltage signal of second integral device, and output result relatively is to second multiplier and first integrator.

In this case, the loading estimating signal of exporting from first integrator is not directly used in FEEDBACK CONTROL, but produces speed estimating signal when considering the loading estimating signal.This that considered loads estimating signal and accurately estimates the signal that is caused by situations such as frictions and withdrawed from the loading disturbance of assembly reception by read/write head corresponding to one.

Therefore, when pack into/read/write head withdraws from the variation of the loading disturbance on the assembly when very little when unloading, and only just can stablize control rate by speed estimating signal, this has just improved this read/write head packs into/reliability of unloading operation.

Further, a disc storage device of the present invention comprises: an actuator is used for moving a read/write head with respect to a disc; The driver of an actuator; A voltage-level detector is used to detect the voltage that produces and exports a voltage signal when actuator is driven; Speed is loaded the estimation device, is used for estimating the translational speed of read/write head and being added to loading level of disruption on the read/write head from drive signal of detecting device and voltage signal, and exports a speed estimating signal and one and load estimating signal; A speed control is used for producing and export a speed control signal from a speed command signal and speed estimating signal; A position detector, be used for current location corresponding to the read/write head that obtains from servo-information produce and export one by read/write head detect error signal, this servo-information just was recorded on the disc in the past; A register control is used for producing and export a positioning control signal corresponding to this error signal; With a selector switch, speed control signal and position control signal are input to selector switch, and any in this control signal is selected and according to a switch order output, wherein drive signal obtains by synthesizing the control signal of being exported by selector switch and loading estimating signal.

The present invention is corresponding to a device, and one of them makes the read/write head hi-Fix be increased to the function of target trajectory and installs in the foregoing invention, is used for input drive signal and loads the estimation device to speed.This step is carried out the positioning action of read/write head with respect to target trajectory, and this operation is withdrawed from assembly at read/write head and packed into and carry out according to a switch order behind the disc from read/write head.

Be not always need withdraw from assembly to pack into or unload read/write head from read/write head, and the data area from the disc beyond spare area can realize the operation that tracks.Selector switch control comes from the input operation of the positioning control signal of register control.

Based on drive signal that is added to the driver that is used for driving actuator and the voltage signal that detects by detecting device, this speed is loaded the estimation device can accurately estimate the loading disturbance, as: the bearing friction power of this actuator, the elastic force that connects the elastic printing circuit (FPC) of actuator and mutual electronic circuit is owing to be applied to the inertia that impact on the equipment or vibration are subjected to actuator from the outside.

Particularly, be allowed to when action of tracking of tracking target track carrying out read/write head, accurately to load disturbance be very important in estimation.

The loading estimating signal that obtains is synthesized becomes the output of the positioning control of selector switch signal, obtains this drive signal by this, and with the actuator of this drive read/write head.Thus, load disturbance such as bearing friction power and the elastic force that is applied on the actuator is eliminated widely.

That is to say, because external force has compensated as: bearing friction power and the quilts such as elastic force that are added to actuator, even alter a great deal when the tracking of carrying out target trajectory is moved as loading disturbances such as bearing friction power, elastic force and inertia, stable control read/write head also is possible to the positioning action and the raising bearing accuracy of target trajectory.

In the present invention, increased the high-precision fixed bit function of read/write head to target trajectory, this speed estimator preferably comprises: a comparer, and wherein the detected voltage signal of voltage-level detector is imported into comparer; First multiplier is used for multiply by drive signal with first coefficient; Second multiplier is used for multiply by with second coefficient output of comparer; First integrator is used for the output of integration comparer; And second integral device, be used for following value is carried out integration, said value obtains from deduct an additive value from the output of first multiplier, described additive value obtains the output of second multiplier and the output addition of first integrator, wherein comparer compares the output and the voltage signal of second integral device, and output result relatively is to second multiplier and first integrator.

In this case, this loading estimating signal that comes from first integrator is corresponding to a signal, and this signal can accurately be estimated the loading disturbance that actuator is subjected to from bearing or EPC.

Utilize this loading estimating signal that accurately obtains by this way, can realize that FEEDBACK CONTROL such as elimination are added to the loading disturbance on the actuator.Therefore, when following the tracks of action, the external force that is added on the actuator can be compensated.

Even the loading disturbance of actuator alters a great deal when following the tracks of action, stable control read/write head also is possible to the positioning action of target trajectory with improving bearing accuracy.

Further, a disc storage device of the present invention comprises: an actuator is used for moving read/write head with respect to a disc; The driver of an actuator; A voltage-level detector, the voltage that produces when being used to detect actuator and being driven and export a voltage signal; A speed control is used for producing and export a speed control signal from a speed command signal and speed estimating signal; A fixed site monitor is used for producing and export an error signal corresponding to the current location of read/write head that is detected by read/write head from servo-information; A register control is used for producing and export a positioning control signal corresponding to this error signal; A selector switch, speed control signal and positioning control signal are imported into wherein, and in the control signal any is selected and according to a switch order output; And a speed is loaded the estimation device, be used for always estimating the translational speed of read/write head and being added to loading level of disruption on the read/write head, and export a speed estimating signal and one and load estimating signal from control signal of selector switch output and voltage signal; Wherein drive signal obtains by synthetic control signal and loading estimating signal by selector switch output.

The present invention is corresponding to a device, and one of them makes the read/write head hi-Fix be increased to the function of target trajectory and installs in the foregoing invention, is used for input drive signal and loads the estimation device to speed.

Other aspects are same as described above.Because when following the tracks of action, the external force that is added on the actuator can be compensated.Thereby, altering a great deal even when following the tracks of action, be added to the loading disturbance of actuator, stable control read/write head also is possible to the positioning action of target trajectory with improving bearing accuracy.

In the present invention, increased the high-precision fixed bit function of read/write head to target trajectory, and a speed control signal is used as the input that this speed is loaded the estimation device, this speed is loaded the estimation device and is preferably comprised: a comparer, and wherein the detected voltage signal of voltage-level detector is imported into comparer; First multiplier is used for multiply by drive signal with first coefficient; Second multiplier is used for multiply by with second coefficient output of comparer; First integrator is used for the output of integration comparer; And the second integral device is used for integration and deducts the output of second multiplier and the value that obtains from the output of first multiplier; Wherein comparer compares the output and the voltage signal of second integral device, and output result relatively is to second multiplier and first integrator.

In this case, no longer need the output of first integrator is added to the output of second multiplication, this operating in the foregoing invention is necessary when using driver to load input estimating device as speed.Therefore this totalizer can be omitted, thereby has simplified this structure.

Further, a disc storage device of the present invention comprises: an actuator is used for moving a read/write head with respect to a disc; The driver of an actuator; A voltage-level detector, the voltage that produces when being used to detect actuator and being driven and export a voltage signal; A speed estimator is used for from the drive signal of a detecting device and the translational speed of voltage signal estimation read/write head, and produces and export a speed estimating signal; A speed control is used for producing and export a speed control signal by a speed command signal and speed estimating signal; A position detector is used for producing and export an error signal that is detected by read/write head corresponding to the current location of the read/write head that obtains from servo-information; A register control is used for producing and export a positioning control signal from the error signal of position detector output with from the speed estimating signal that speed estimator is exported; And a selector switch, speed control signal and positioning control signal are imported into wherein and go, and in this control signal any is selected, and selected control signal is used as drive signal output.

This changes very little situation corresponding to loading disturbance.At this moment, only utilize speed estimating signal and needn't use and load estimating signal and just can stablize control rate, and improve the reliability that the read/write head load/unload operates and also become possibility.In this case, no longer need one to be used for the compositor that synthetic this loading estimating signal becomes speed control signal, this has just simplified the structure of this disc storage device.

In the present invention, increased the high-precision fixed bit function of read/write head to target trajectory, better, register control is based on loading the speed estimating signal generation positioning control signal that the estimation device is exported by the error signal of position detector output with by speed.

The effect of this situation is as follows.The servo-information that is recorded on the disc is a discrete signal with constant sample period, is not continuous signal.When being performed difference processing resembles in PID (proportional-plus-integral-plus-derivative) control, the execution of the difference processing of the discontinuous error signal of relevant read/write head location be by remove with the sample period current sampling regularly error signal value and the difference between the error signal value of previous sample timing realize.Therefore, might in the end value of this difference processing, comprise noise result, and disadvantageous possibility is arranged, promptly work as a searching modes (under this pattern, read/write head is moved to target trajectory) convert a tracing mode to (under this pattern, read/write head is allowed to the tracking target track) time, a big error signal can be produced.When if this incident is given birth to, follow the tracks of action and produce functional failure, perhaps the access time of read data becomes longer.

So, replace error signal malfunctioning, utilize the location difference to become the fact of speed and the operating speed estimating signal.Speed estimating signal by the output of rate of loading estimation device is a continuous signal, and it is not easy to by noise effect, and does not rely on the sector sample period of disc storage device.Therefore, follow the tracks of action and seldom cause functional failure.Further, the required access time of read data has been shortened widely.

Further, the speed loading estimates that the control frequency band that a control frequency band of device is configured to greater than register control or positioning control system is favourable.

In this case, the control frequency band of widening this positioning control system increases the gain ratio exactly.There is a upper limit in the intrinsic mechanical resonance frequency of sector servo systematic sampling frequency of disc storage device or actuator.

Yet this speed is loaded the estimation device and is not subjected to sector servo systematic sampling frequency influence.Therefore, load in the estimation device in speed, the control frequency band of itself can be set to the control frequency band greater than positioning control system or speed control system.Thereby read/write head is allowed on higher control frequency band accurately tracking target track.

In the superincumbent description, this actuator can so be set up, so that packs into or unload read/write head corresponding to disc, perhaps can constitute like this, when this disc storage device does not move, so that read/write head is placed in the information spare area beyond the data field on the disc.

Description of drawings

Fig. 1 is a block scheme, has shown a structure according to a disc storage device of first most preferred embodiment of the present invention;

Fig. 2 is a block scheme, has shown the one-piece construction of a speed control system, and this speed control system is an element among Fig. 1;

Fig. 3 (A) is a block scheme, and it is used to explain the loading disturbance estimation action of a speed loading estimation device, and this speed is loaded and estimated that device is an element among Fig. 2;

Fig. 3 (B) is a block scheme, and it is to be obtained by the block scheme in the equivalent transition diagram 3 (A);

Fig. 3 (C) is a block scheme, and it has integrally shown the block scheme among Fig. 3 (A);

Fig. 4 (A) is a block scheme, and it has explained that inhibition is applied to the action of the loading disturbance of this disc storage device shown in Figure 1;

Fig. 4 (B) is a block scheme, and it is to be obtained by the block scheme in the transition diagram 4 (A) equivalently;

Fig. 5 is the cutoff frequency characteristic that has shown about the loading disturbance that is applied to disc storage device shown in Figure 1;

Fig. 6 (A) is a curve, and it has shown that the time of the loading disturbance that is applied to disk sheet storage arrangement shown in Figure 1 changes and the loading estimating signal that speed loading estimation device is exported;

Fig. 6 (B) is a curve, and it has shown that the time of read/write head translational speed changes when the loading estimating signal that is loaded the output of estimation device by speed is not imported into compositor;

Fig. 6 (C) is a curve, and it has shown when the loading estimating signal that is loaded the output of estimation device by speed and be imported into compositor when eliminating the variation of loading disturbance, and the time of read/write head translational speed changes,

Fig. 7 is a block scheme, has shown a structure according to a disk sheet storage arrangement of second most preferred embodiment of the present invention;

Fig. 8 is a block scheme, has shown the one-piece construction of a speed control system, and it is an element among Fig. 7;

Fig. 9 is a block scheme, has shown a structure according to a disk sheet storage arrangement of the 3rd most preferred embodiment of the present invention;

Figure 10 is a block scheme, has shown the one-piece construction of a positioning control system, and it is an element among Fig. 9;

Figure 11 has shown frequency characteristic, has explained positioning control characteristic in the disk sheet storage arrangement shown in Figure 9 with it;

Figure 12 has shown frequency characteristic, with the loading Disturbance Rejection effect in its explanation disk sheet storage arrangement shown in Figure 9;

Figure 13 is a block scheme, has shown a structure according to a disk sheet storage arrangement of the 4th most preferred embodiment of the present invention;

Figure 14 is a block scheme, has shown the one-piece construction of a positioning control system, and it is an element among Figure 13; And

Figure 15 is a block scheme, has shown a structure according to a disk sheet storage arrangement of the 5th most preferred embodiment of the present invention;

In all these figure, identical parts same reference numeral.

The specific embodiment

Most preferred embodiment of the present invention obtains explanation with reference to accompanying drawing.

(first embodiment)

In Fig. 1, label 1 represents one by the disk sheet of Spindle Motor (do not have show) rotation, 2 generations of label Table one record magnetic read-write head of data in the sale at reduced prices sheet 1 of laying equal stress on, label 3 represents a read/write head arm. By a peace The read/write head 2 that is contained in the top of arm 3 rotates around a bearing 4, thereby read/write head 2 is moved to an order of disc 1 The mark track.

Label 5 represents a drive coil that is installed in the rear end of arm 3, and label 6 represents a stator. A magnet (not having to show) is positioned in the surface of this stator 6 with respect to the position of coil 5. Arm 3 passes through The interaction of magnetic flux is subjected to revolving force, and magnetic flux is by placing the magnet above the stator 6 and being supplied to The electric current formed magnetic field of coil 5 produces. Label 7 represents a slope piece, withdraws from as a read/write head Element is placed in the outside in disc 1 shared zone. Label 8 represents the outstanding of a top that is installed in arm 3 Floating sheet. The slope of slope piece 7 forms with a suspension sheet support surface, and this surface is with respect to outstanding Floating sheet 8 slides to respond rotatablely moving of arm 3. Read/write head 2, arm 3, bearing 4, coil 5, stator 6, oblique Slope piece 7 and suspension sheet 8 consist of an actuator 9.

Label 10 represents a driver, and label 11 represents a voltage detector that is included in the driver 10. Voltage and output voltage signal Va that the end opposite of voltage detector 11 magnetic test coils 5 produces. Label 12 represents one Individual speed is loaded the estimation device, and it is estimated by the voltage signal Va that comes from voltage detector 11 and driving signal u The translational speed of arm 3 and the loading torque that is applied to arm 3, driving signal u is the input of driver 10, and This speed is loaded estimation device speed estimating signal vest of 12 outputs and a loading estimating signal τ dest.

Label 13 represents a comparator, its output speed command signal vr (steady state value) and speed estimating signal Error signal e between the vest. Label 14 represents a speed control, and it is based on obtaining by comparator 13 Error signal e amplify and compensation of phase, export then a speed control signal c. Label 15 represents a tool The synthesizer that correcting function is arranged. The speed control signal C of speed control 14 and speed are loaded the dress of estimation device 12 Carry estimating signal τ dest and all be transfused to synthesizer 15, and the synthesizer 15 correct computings of execution and synthetic, Output drive signal U gives driver 10 then. In these each can be by hardware such as an analog electrical Road or software consist of.

Driver 10 applies drive current Ia to coil 5 according to the driving signal u of input, rotates around bearing 4 then Arm 3, and the mobile read/write head 2 that is installed in arm 3 tops. When arm 3 is rotated outside at disc 1, at arm 3 The suspension sheet 8 on top is placed in the suspension sheet support surface of slope piece 7, has unloaded by this read/write head sliding shoe.

Then, will utilize Fig. 2 to explain the operation of this speed control system. In Fig. 2, S represents Laplce (Laplace) operator.

In Fig. 2, if the translational speed of read/write head 2 is defined as v, and if speed estimating signal Be defined as vest, it is the estimation result that speed is loaded estimation device 12, and it has shown read/write head and square 30 Movement speed v, corresponding to the error signal e of speed command signal vr by 1 expression of following equation.

[equation 1]

e＝vr-vest

This error signal e is obtained by comparator 13. Be presented at 14 pairs of errors of a speed control in the square 21 Signal e carries out the filtering of a transfer function Gv (s) and processes, and produces a speed control signal c and export to add Musical instruments used in a Buddhist or Taoist mass 46. By adder 46 speed control signal C is become and drive signal U. Drive signal u and be converted into gm Multiply by the current signal (transfer function is gm) from the voltage signal in the driver 10 in the square 22, and defeated Go out drive current Ia.

In the actuator 9 that shows in Figure 23, by transfer function Kt, the drive current Ia that supplies with coil 5 is turned to Change driving torque τ into, do alternately between the magnetic flux of the magnetic field that drive current Ia forms and the magnet of stator 6 With. Here, transfer function Kt is a torque constant of actuator 9. Transfer function in square 24 (Lb/Js) shown from acting on driving torque τ on the arm 3 to the transfer spy of the movement speed v of magnetic head 2 Levy. Here, J has represented moment of inertia, and Lb has shown from bearing 4 to read/write head 2 distance.

Square 26 and square 27 are corresponding to voltage detector 11. If actuator 9 rotates, every at coil 5 Formed induced voltage Ea on the individual opposite end. Square 26 has been exported this induced voltage Ea. If drive current Ia Be supplied to coil 5, just can form voltage drop (Ra+LaS) Ia. The letter of this voltage drop of square 27 outputs Number. An adder 28 is carried out addition to them, and the terminal voltage of output actuator 9 is believed as a voltage Number Va. That is to say, exist and descend to establish an equation a relation of 2.

[equation 2]

Va＝Ea+(Ra+La*s)*Ia

Here, Ra represents the coil resistance of this coil 5, and La represents the inductance of coil 5.

Between the suspension sheet support surface on the slope piece 7 and suspension sheet 8, form such as loading disturbance τ such as sliding frictions D. This loads the prime that disturbance d can be expressed as a square 24 that is imported in the comparator 25.

In Fig. 2, shown a block diagram of speed loading estimation device 12 by the square 30 of chain-dotted line sealing. This square 30 comprises: a square 32, and it has the transfer function identical with square 22; A square 33, tool The transfer function identical with square 23 arranged, and square 23 is actuators 9; A square 34, it has and square 24 Identical transfer function; A square 35, it has the transfer function identical with square 26, and square 26 is voltage Detector 11; And a square 39, it has the transfer function identical with square 27. Square 32 and square 33 Combination consisted of first multiplier, a square 44 has consisted of second multiplier, a square 43 has consisted of One integrator, square 34 and square 35 have consisted of the second integral device together. Here, each constant of square 30 Nominal value of suffix " n " expression, a variable that has increased " est " represents an estimated value.

Drive signal U and be transfused to the square 32 that loads estimation device 12 to formation speed. Driving signal U takes advantage of by one Musical instruments used in a Buddhist or Taoist mass 41 is multiplied by (gmn*Ktn), and multiplier 41 is made of square 32 and square 33, obtains by this a driving Torque estimating signal τ est. Driving torque estimating signal τ est and the driving torque τ phase that acts on the arm 3 With.

In Fig. 2, a speed estimating signal vest of square 34 outputs from second integral device 42 is fed Give comparator 13, corresponding with the movement speed v of read/write head 2. In the square 35 in second integral device 42, speed Degree estimating signal vest is multiplied by Kvn, obtains by this induced voltage estimating signal Eaest. Estimation electric current I aest Be supplied to actuator 9, obtain by this voltage drop (Ran+Lan*S) * Iaest. This induced voltage estimating signal Eaest Be added on voltage drop (Ran+Lan*S) the * Iaest by adder 36, and output voltage estimating signal Vaest. Voltage estimate signal Vaest is transfused to a comparator 37, compare with voltage signal Va then, Va by Practical measurement. Error signal alpha (=Va-Vaest) be transfused to first integrator 43 and second multiplication Device 44, this error signal are the results of a comparison.

This error signal alpha of first integrator 43 integrations is also exported a loading estimating signal that is used for loading disturbance τ dest. Error signal alpha is transfused to second multiplier 44, and is multiplied by g1 and adds to adder 38 again. Add The output of musical instruments used in a Buddhist or Taoist mass 38 is transfused to a subtracter 31. In subtracter 31, passing through from driving torque estimation letter Deducting output (summation of the output of the output of first integrator 43 and second multiplier 44) among number τ est obtains One as a result γ export to second integral device 42.

Coefficient g1 of second multiplier 44 and a coefficient g2 of first integrator 43 are constants, are used for stablizing Speed is loaded the action of estimation device 12. Its details will obtain describing subsequently.

In Fig. 2, the square 47 that is surrounded by chain-dotted line is corresponding to a synthesizer 15. In the synthesizer 47 Square 45 with 1/ (gmnKtn) thus multiply by and load estimating signal τ dest and produce a correction signal β. The school Positive signal β is essential for producing driving force, and this driving force size is corresponding to the loading estimating signal τ of arm 3 Dest. Correction signal β is added on the speed control signal C in adder 47

Next, the operation of the loading of the speed in square 30 estimation device 12 is illustrated with reference to Fig. 3.

Fig. 3 (A) is a block diagram, obtains by the square 30 among Fig. 2 is rewritten, and has shown from driving letter The input of number u is to the conversion of the output of loading estimating signal τ dest. Fig. 3 (B) is a block diagram, and it is logical Cross based on equation 2 and change equivalently and the input position (comparator 37) of mobile voltage signal Va is repaiied The block diagram of changing plan among 3 (A) obtains. Here, for the purpose of simplifying the description, think in Fig. 2 in the square 22 Gm be identical with gmn in the square 32.

[equation 3]

gm＝gmn

Therefore, can think drive current Ia (=gm*u) with estimation electric current I aest (=gmn*u) be identical.

Note first and second in the equation 2. By multiply by first with (Jn*s)/(Lbn*Kvn) In Ea, the input position of comparator 37 can move to the subtraction that is shown among Fig. 3 (B) equivalently among Fig. 3 (A) The input position of device 48. (Ra+La*s) * Ia in the equation 2 is comprised in a square 39 among Fig. 3 (A) In. Like this, it and square 49 the same being expressed shown in Fig. 3 (B).

Notice the subtracter 48 among Fig. 3 (B), the δ that represents in the equation 4 below is that of subtracter 48 is defeated Go out.

[equation 4] $\mathrm{\δ}=\mathrm{Ktn}\·\mathrm{Ia}-\frac{\mathrm{Jn}\·s}{\mathrm{Lbn}\·\mathrm{Kvn}}\·\mathrm{Ea}$

Then, if notice comparator 25 and square 24 and 26 among Fig. 2, below existing shown in the equation 5 Relation.

[equation 5] $\mathrm{Ea}=\frac{\mathrm{Lb}\·\mathrm{Kv}}{J\·s}\·(\mathrm{Kt}\·\mathrm{Ia}-\mathrm{\τd})$

Here, in order to simplify, establish an equation under having supposed.

[equation 6]

        Kt＝Ktn  Ra＝Ran  La＝Lan

[equation 7] $\frac{\mathrm{Lb}\·\mathrm{Kv}}{J}=\frac{\mathrm{Lbn}\·\mathrm{Kvn}}{\mathrm{Jn}}$

If equation 5 is by substitution equation 4, equation 4 is deformed into shown in following equation 8:

[equation 8]

          δ＝τd

That is to say that the output δ of subtracter device 48 equates with the loading disturbance τ d that is applied to arm 3.

Therefore, if from being estimated to loading by friction or other similar loading disturbance τ d that is applied to arm 3 and causes The transfer function of calculating signal τ dest is obtained from the block diagram that is shown in Fig. 3 (B), transfer function will become as Shown in the following equation 9.

[equation 9] $\mathrm{\&tau;dest}=\frac{\frac{\mathrm{Lbn}}{\mathrm{Jn}}\&CenterDot;\mathrm{Kvn}\&CenterDot;g2}{{\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="A0114129000331.png,A0114129000352.png"\; state="\{\{state\}\}">s</figure-callout>}}^2+\frac{\mathrm{Lbn}}{\mathrm{Jn}}\&CenterDot;\mathrm{Kvn}\&CenterDot;\mathrm{gl}\&CenterDot;s+\frac{\mathrm{Lbn}}{\mathrm{Jn}}\&CenterDot;\mathrm{Kvn}\&CenterDot;\mathrm{<figure-callout\; id="2"\; label="g"\; filenames="A0114129000331.png,A0114129000352.png"\; state="\{\{state\}\}">g</figure-callout>}2}$

From equation 9, can estimate loading disturbance τ d by discovery speed loading estimation device 12, this loads disturbance τ d drives signal U and voltage letter by coming from a loop of the square 30 with secondary delay system The actual friction of number Va causes.

Here, a natural angular frequency (estimation angular frequency) of secondary delay system is defined as ω o, and resistance Buddhist nun's factor is defined as ξ o, and the constant g1 and the g2 that are used for the operating stably of speed loading estimation device 12 are shown respectively Be shown in following equation 10 and the equation 11.

[equation 10] $\mathrm{gl}=2{\mathrm{\&xi;}}_0\&CenterDot;{\mathrm{\&omega;}}_0\&CenterDot;\frac{\mathrm{Jn}}{\mathrm{Lbn}\&CenterDot;\mathrm{Kvn}}$

[equation 11] $\mathrm{<figure-callout\; id="2"\; label="g"\; filenames="A0114129000331.png,A0114129000352.png"\; state="\{\{state\}\}">g</figure-callout>}2={\mathrm{\&omega;}}_0^2\&CenterDot;\frac{\mathrm{Jn}}{\mathrm{Lbn}\&CenterDot;\mathrm{Kvn}}$

Here, estimation angular frequency o is set to fully and controls frequency band fc greater than a speed, and damping Factor ξ o is selected from 7 to 1, and the loading disturbance τ d that is caused by friction or analogue is estimated by the speed loading Calculating device 12 is estimated exactly.

If equation 9 is by equation 10 and 11 distortion, it just can be expressed as following equation 12.

[equation 12] $\mathrm{\&tau;dest}=\frac{{\mathrm{\&omega;}}_0^2}{{\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="A0114129000331.png,A0114129000352.png"\; state="\{\{state\}\}">s</figure-callout>}}^2+2{\mathrm{\&xi;}}_0\&CenterDot;{\mathrm{\&omega;}}_0\&CenterDot;s+{\mathrm{\&omega;}}_0^2}\&CenterDot;\mathrm{\&tau;d}$

That is to say that the block diagram that loads estimation device 12 in the speed among Fig. 3 (A) is reduced to shown in Fig. 3 (C) A square frame 52.

Then, the operation that is shown in the synthesizer 15 in the square frame 47 describes in detail with reference to Fig. 4.

A correction signal β is to adder 46 in square frame 45 outputs, and β is by a loading estimating signal τ dest Multiply by 1/ (gmn*Ktn) and obtain. Correction signal β is used to form a driving force, this driving force big Little of the loading estimating signal τ dest in the actuator 9. Correction signal β is output to adder 46. The school Positive signal β is multiplied by gmn*Ktn by square 22 and square 23, therefore, loads estimating signal τ dest quilt Multiply by in advance l/ (gmn*Ktn), thereby keep formed objects.

Fig. 4 (A) has shown adder 46, the comparator 25 relevant with the operation of synthesizer 15 in Fig. 2 block diagram With square 24. Fig. 4 (B) is a block diagram, wherein is added to loading disturbance τ d and the side of being added to of comparator 25 It is a τ d that the loading disturbance τ d of piece 52 is synthesized.

Square 52 is the same among square 52 among Fig. 4 (A) and Fig. 3 (C), has of representing in equation 9 to turn to The exchange the letters number.

From Fig. 4 (B), can conceive by wave filter and be added to a speed control system loading disturbance τ d, This wave filter represents with the transfer function in the equation 13.

[equation 13] $\mathrm{Gd}\left(s\right)=1-\frac{{\mathrm{\&omega;}}_0^2}{{\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="A0114129000331.png,A0114129000352.png"\; state="\{\{state\}\}">s</figure-callout>}}^2+2{\mathrm{\&xi;}}_0\&CenterDot;{\mathrm{\&omega;}}_0\&CenterDot;s+{\mathrm{\&omega;}}_0^2}=\frac{{\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="A0114129000331.png,A0114129000352.png"\; state="\{\{state\}\}">s</figure-callout>}}^2+2{\mathrm{\&xi;}}_0\&CenterDot;{\mathrm{\&omega;}}_0\&CenterDot;s}{{\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="A0114129000331.png,A0114129000352.png"\; state="\{\{state\}\}">s</figure-callout>}}^2+2{\mathrm{\&xi;}}_0\&CenterDot;s+{\mathrm{\&omega;}}_0^2}$

Fig. 5 has shown the frequency characteristic of a transfer function Gd (s), and it is similar to the segmentation of expression in the equation 13. Can see from the frequency characteristic of transfer function Gd (s), its gain when angular frequency is lower than angular frequency, equate or The person is less than 0dB. When angular frequency was lowered, it declined with damping ratio-20dB/dec (dec represents ten times) Become. The filter characteristic of low-frequency band cut-off that transfer function Gd (S) has, it can be used for rejection ratio angular frequency o The gain of low frequency.

In first embodiment, be applied on the arm 3 even load disturbance τ d by handles such as frictions, load disturbance τ d can load estimation device 12 by speed and estimate that it is controlled like this so that by loading estimating signal τ Dest eliminates the loading disturbance τ d that applies from the outside. Load the operation of disturbance τ d like cutting by having The equal wave filter of frequency characteristic that ends is applied to this speed control system, shown in Fig. 5 and equation 13. Therefore, exist When being equal to or less than the frequency of angular frequency, by friction or the loading disturbance that causes of analogue by elementary Low-the frequency band shielding characteristic suppresses.

Fig. 6 is the more detailed curve of explaining the time response that is used for loading disturbance-inhibition. Fig. 6 (A) shows When being added in the arm 3 with the 54 step-like loading disturbance τ d that show in the accompanying drawings, load estimation by speed One of device 12 outputs is loaded estimating signal τ dest.

Here, determine estimation frequency fo (ω o=2 π fo) and the damping of the control parameter in equation 10 and the equation 11 The value of factor ξ o is chosen to be respectively 3KHz and 1, and the control frequency band of this speed control system is set to 300 Hz, and realize simulation. Fig. 6 (B) has shown as year estimating signal τ that is loaded 12 outputs of estimation device by speed When dest is not input to synthesizer 15, the analog result of magnetic head translational speed V.

A straight line that represents with a chain-dotted line 56 has represented speed command signal vr, and a solid line 57 shows to be read The time waveform of writing head translational speed V. When the variation of step-like loading disturbance produces, moment read/write head move Speed V alter a great deal.

Fig. 6 (C) has shown that estimating signal τ dest is imported into synthesizer 15 and signal is imported into when loading The analog result of read/write head translational speed V during actuator 9. Among Fig. 6 (C) one with chain-dotted line show straight Line 58 has represented a speed command signal vr, the time waveform of solid line 59 expression read/write head translational speed V. Even add step-like loading shock wave, read/write head translational speed V is also almost constant, and with Fig. 6 (B) In situation this loading Disturbance Rejection effect of comparing improve widely.

Thereby, estimate exactly by friction or analogue and disturb with the loading that the translational speed of read/write head causes Moving size becomes possibility. Therefore, even control is stablized in altering a great deal of the loading disturbance on slope piece 7 The reliability of speed and improve read/write head and pack into/unloading operation also is possible.

In the superincumbent explanation, the driving signal u that exports from square 47 is used as an input signal and inputs to Speed is loaded estimation device 12. Yet, substitute and drive signal U, the driving of output from square 22 and driver 10 Electric current I a can be used. In this case, also can obtain same effect.

(second embodiment)

In second most preferred embodiment of the present invention, replace the driving signal U of first embodiment, a speed Control signal C is imported into speed and loads the estimation device. Thus, the adder 38 that needs in first embodiment can Being omitted, thus simplified structure. Here will explain with Fig. 7 and Fig. 8.

To be input to the signal that a speed is loaded estimation device 60 with difference among Fig. 1. Filled by voltage detecting A speed control signal c who puts the 11 voltage signal Va that produce and produced by speed control 14 is imported into speed Degree loads estimation device 60. That is to say that the characteristics of second embodiment are that speed control signal C is used to substitute Drive signal u.

As shown in the figure 7, speed control signal c and load estimating signal τ dest and be transfused to synthesizer 15 carries out Correction calculation drives signal u to produce, and outputs to driver 10 driving signal U.

Square 61 by the chain-dotted line sealing in Fig. 8 is block diagrams that a speed is loaded estimation device 60. By voltage The voltage signal Va (it is an output of adder 28) that detector 11 produces and by speed control 14 A speed control signal c (representing with square frame 21) who produces is imported into speed and loads estimation device 60.

Load in the estimation device 12 in the speed of first embodiment, correction signal β is added on the driving signal U, and is right After input to speed and load estimation device 12. Therefore, need adder 38 shown in Figure 2.

Yet, loading in the estimation device 60 in the speed of second embodiment, speed control signal C is at correction signal β Be transfused to before being added, therefore, do not need adder shown in Figure 2 38.

In a second embodiment, speed is loaded the operation of estimation device 60 and is explained with reference to Fig. 2 and Fig. 8, and Load the operation of estimation device 12 compares with the speed among first embodiment.

At first, in Fig. 2, if the input of second integral device 42 is defined as γ, note subtracter 31, letter Number γ is with following The Representation Equation.

[equation 14]

γ＝τest-(τdest+gl*a)＝gmn*Ktn*u-(τdest+gl*a)

Yet, note the adder 46 among Fig. 2, drive signal U with equation 15 expressions.

[equation 15] $u=c+\mathrm{\&beta;}=c+\frac{\mathrm{\&tau;dest}}{\mathrm{gmn}\&CenterDot;\mathrm{Ktn}}$

Therefore, from equation 14 and equation 15, can get the equation 16 of signal γ below being expressed as.

[equation 16]

γ＝gmn*Ktn*c-gl*a

If Fig. 2 medium velocity loads square frame Figure 30 of estimation device 12 and rewritten based on equation 16, just obtain being shown in figure A speed in 8 is loaded square frame Figure 61 of estimation device 60. Produced by speed control 14 (square 21) A speed control signal C be transfused to square 32 to first multiplier 41, and the output of square 32 is failed Enter to square 33. Therefore, multiply by speed control signal c with a coefficient (gmn*Ktn) and obtain one and drive Dynamic torque estimating signal τ est becomes possibility.

On the other hand, loading estimating signal τ dest is transfused to the synthesizer 15 by square 47 expressions. Therefore, The same with first embodiment, the translational speed V of magnetic head 2 and wait the loading disturbance τ d be applied to arm 3 to lead to by friction It is estimated from voltage signal Va and speed control signal C that the speed of crossing is loaded the action of estimating device 60, and speed is estimated Calculate signal vest and load estimating signal τ dest and be formed and export. Speed estimating signal vest is by comparing Device 13 is fed to speed control 14 and is used for packing into/discharge rate of control read/write head 2. Apply in order to eliminate Loading disturbance τ d to the arm 3 is such as rubbing in the sheet support surface of slope piece 7 and the slip between the suspension sheet 8 Wipe, load estimating signal τ dest and input to synthesizer 15. Thereby, accurately detect the translational speed V of read/write head Become possibility with the loading disturbance τ d that is caused by friction, even the variation of the loading disturbance on this slope piece very Greatly, also can realize stable speed control.

According to second embodiment, compare with first embodiment, can reduce for speed and load estimation device 60 Hes The number of the adder that the structure of synthesizer 15 is required. Therefore, compare with first embodiment, with simply tying Structure just can obtain identical effect. When this speed control system is realized such as an analog circuit with hardware, can To simplify the structure of circuit. When this speed control system is realized with software, can shorten by computing producing Calculating time delay.

Among first and second embodiment that describe in the above, utilize by speed and load the loading that estimation device 12 produces Estimating signal τ dest eliminates the loading disturbance that is applied on the actuator. Yet, the loading on the piece of slope When the variation of disturbance was very little, the translational speed of read/write head can only be utilized by speed and load 12 generations of estimation device Speed estimating signal vest control, can not use and load estimating signal τ dest. In this case, Just no longer need synthesizer 15, thereby simplified the structure of this device

(the 3rd embodiment)

Except by pack into/unloading behavior compensation loads the disturbance, the 3rd embodiment by utilize one general The tracking action that logical speed is loaded the estimation device realizes hi-Fix. This embodiment will utilize Fig. 9 to 12 to carry out Explanation.

The 3rd embodiment has a position sensor 70, for detection of the position of read/write head 2; With a position Controller 71 is for generation of position control signal CX; With a selector 72. The control of selector 72 selection speed Among signal cv and the position control signal cx one, and selected one according to switch order as one Control signal C ' exports to synthesizer 15, and switch order comprises one and packs into/and unloading command and one input to defeated Enter the trace command of terminal 73.

A position signalling of track is used as each sector that servo-information is recorded in disc 1 in advance, this Position signalling is read by read/write head 2. Position sensor 70 detects read-write by the position signalling that read/write head 2 reads A current location of 2, and produce a position error signal ε, its expression current location and target track Error between the target location of mark. The position error signal ε that is produced by position sensor 70 is transfused to the position Put controller 71, this signal is exaggerated and compensates in phase place, and positioner 71 produces Position Control Signal cx also exports to selector 72.

If one is packed into/and unloading command is transfused to input terminal 73 to selector 72 as switch order, A switch 74 of selector 72 is connected with a terminal a, and read/write head 2 is allowed on disc 1 with flat Steady speed is shifted to target trajectory. Further, read/write head 2 is allowed to be withdrawn into reposefully the slope from disc 1 Piece 7. If trace command is transfused to input terminal 73 to selector 72 as a switch order, open Close 74 and also be connected with a terminal b, and read/write head 2 is positioned on the target trajectory it by control.

In the superincumbent description, by the position with respect to target trajectory of the loading disturbance τ d generation that applies from the outside Offset is loaded estimating signal τ dest from loaded 12 generations of estimation device by speed one and is eliminated.

Since the translational speed of magnetic read-write head control and with respect to the positioning control of target trajectory (they are complete Different) controlled according to the switch order of a selector 72, not only this magnetic read-write head packs into/unloads Speed control, and the speed that tracks when magnetic read-write head is shifted to target trajectory is controlled and can be filled by speed Carrying estimation device 12 realizes.

Usually, when carrying out seek action, the translational speed of magnetic read-write head is by being recorded on the disc in advance Servo-information detects, and the rate signal that obtains is used to the speed control of magnetic read-write head.

Yet according to the 3rd embodiment, the speed of magnetic read-write head is loaded 12 estimations of estimation device by speed. Therefore, Needn't just can control seeking speed by the servo-information that magnetic read-write head reappears on the disc.

Although postponed explanation, in above-mentioned first and second embodiment, can reappear servo-information equally Realize seeking speed control, above-mentioned the 4th and the 5th embodiment that also is adapted to.

After seek action, the action that the action that tracks then the following describes is proceeded. When switch 74 is connected When receiving terminal B, will utilize Figure 10 that the action of positioning control system is described. In Figure 10, by the chain-dotted line bag The part 30 of enclosing is the square that speed is loaded estimation device 12, and with Fig. 2 in the square frame of square 30 Scheme identical. Same, the part 47 of being surrounded by chain-dotted line is a square of synthesizer 15. In Figure 10, For purposes of simplicity of explanation, time delay element of a sector servo systematic sampling is omitted.

In Figure 10, if the position of a current track that is detected by read/write head 2 is defined as X, about order A position error signal ε of mark track position is illustrated in the following equation 17. This site error ε is by one Comparator 75 obtains.

[equation 17]

ε＝r-x

The positioner 71 of expression in square 76 is carried out the filtering of a transfer function Gx (s) and is processed, and processes Position error signal ε produces a position control signal cx, and with it as a control signal C ' (=cx) Export to the synthesizer 15 in the square 47. A positioning control system realizes normal PID control, Position Control A transfer function of device 71 is illustrated in the following equation 18.

[equation 18] $\mathrm{Gx}\left(s\right)=\mathrm{Kx}\&CenterDot;\&lsqb;1+\mathrm{Td}\&CenterDot;s+\frac{1}{\mathrm{Ti}\&CenterDot;s}\&rsqb;$

Here, Kx represents the proportional gain of a positioning control system, and Td represents derivative time constant, and Ti Represent integration time constant. For the control frequency band of widening this positioning control system will increase proportional gain Kx. There is a upper limit in the intrinsic mechanical resonance frequency of sector servo systematic sampling frequency or actuator devices. By This loads in the estimation device 12 in the speed that consists of in the mode identical with square 30 among Fig. 2, and speed is loaded estimation Device 12 is not subjected to the impact of sector servo systematic sampling frequency. Therefore, this speed is loaded the control frequency of estimation device 12 Band can arrange than the control frequency band height of positioning control system.

Square 77 is integrators, and a transfer function represents with l/s, and the movement speed v of read/write head 2 Be converted into a current track position x.

In order to give read/write head to being installed in the coil 5 supply drive currents on the actuator 9 and transmitting a signal of telecommunication 2, actuator 9 is connected on the electronic line chip by a FPC or analog. Except bearing 4 Outside the bearing friction power, actuator 9 also is subjected to the impact with the elastic force of the relevant FPC that rotatablely moves. These also are dresses Carry and disturb τ d. Square 78 represents a coefficient of elasticity K who loads disturbance τ d. The anti-stick coefficient D of square 79 representatives. The impact of the coefficient of elasticity K of loading disturbance τ d and the position X of magnetic head 2 are proportional, and therefore, square 78 Input is represented with the form to an output of comparator 25 on the x of position. Similar, owing to load disturbance The impact of the anti-stick coefficient D of τ d and the translational speed of read/write head 2 are proportional, and the input of square 79 is by with speed V Form to an output of comparator 25 represents.

Become a driving signal from the control signal C ' of square 76 outputs by the adder 46 that consists of synthesizer 15 U, and input to driver 10 in the square 22.

As loading disturbance τ d, except the bearing friction power of bearing 4 and be applied to the frictional force on the actuator 9, The elastic force that connects the FPC of actuator 9 and electronic circuit substrate also is carried out consideration. Speed is loaded 12 estimations of estimation device This loads disturbance τ d, and is controlled so that disturb by the loading estimating signal τ dest elimination loading that obtains Moving τ d. Therefore, as in first embodiment, the action of loading disturbance τ d seems that it is by the side of having The wave filter of the cut-off frequency characteristic among journey 13 and Fig. 5 is applied to this positioning control system. Be equal to or less than On the frequency of angular frequency o, load disturbance by preliminary low-that frequency band ends feature is suppressed.

Figure 11 has shown frequency characteristic, and it be used for to explain that the speed that relates to the positioning control characteristic loads estimation device 12 Improve effect. Determine the control parameter in equation 10 and the equation 11 estimation frequency fo (ω o=2 π fo) value and Damping coefficient ξ o is chosen to be respectively 3KHz and 1, and the control frequency band of speed control system is set to 300Hz, And realize simulation.

Among Figure 11, a dotted line 81 has shown one ideally with respect to target trajectory r, the position of read/write head 2 Put the frequency response characteristic of x, at this ideal situation, do not load disturbance τ d and be applied to actuator 9. Because fixed Level controlling system low control frequency band be set to 300Hz, the tracking target track is straight exactly for read/write head 2 To about frequency 300Hz.

Numeral 82 representatives among Figure 11 are worked as owing to rotatablely move the bearing friction power of bearing 4 and the elastic force of FPC are applied to The frequency response characteristic of x/r in the time of on the actuator 9. Because this frequency is 0dB or is lower than about 200Hz, thereby In 200Hz or more low-frequency low-frequency band zone. Read/write head 2 is the tracking target track exactly.

The frequency response characteristic of x/r when numeral 83 representatives among Figure 11 produce effect when speed loading estimation device 12. Through finding that this frequency approaches the frequency characteristic ideally 81 of not loading disturbance.

Figure 12 has shown frequency characteristic, and it is used for speed is loaded the inhibition work that 12 pairs of estimation devices load disturbance The more detailed explanation. In Figure 12, numeral 84 expression read/write heads 2 are in the response of position x, namely when not filling Carry disturbance when being added to actuator 9, with respect to the transfer characteristic of the x/c ' of control signal c ' (in this case with Driving signal U equates). This has shown the ideal characterisitics of actuator, and this characteristic becomes a straight line, it A little less than becoming with the attenuation ratio of-40dB/dec with respect to the increase of frequency.

Numeral 85 expression read/write heads 2 among Figure 12 are namely worked as the axle of bearing 4 in the frequency response characteristic of position x When the elastic force that holds frictional force and FPC is applied on the actuator 9, with respect to the conversion spy of the x/c ' of control signal c ' The property. Actuator 9 has shown the response characteristic when frequency 200Hz, and has shown at 100Hz or more low-frequency Quite mild transfer characteristic in the low-frequency band zone. In 100Hz or more low-frequency low-frequency band zone, because Load the impact of disturbance, read/write head 2 can not move easily.

Numeral 86 expression read/write heads 2 among Figure 12 are with respect to the frequency response spy of control signal c ' at position x The property. Its Negotiation speed loads the effect of estimation device 12, close to the reason of not loading disturbance at low-band region Think frequency characteristic 84, compare with 85 situation among Figure 12 that the frequency characteristic of actuator improves greatly, and no longer Produce resonance peak.

Therefore, if the switch 74 of selector 72 is connected to terminal B by trace command, magnetic head 2 is made by control It is positioned on the target trajectory accurately. That is to say, even bearing friction power and the FPC of elastic force such as bearing 4 Elastic force be applied to actuator, these impacts of loading disturbances also can be loaded estimation device 12 and synthesizer 15 by speed Eliminate, therefore, improved the precision of magnetic read-write head location.

(the 4th embodiment)

In the 4th embodiment, replace the driving signal U among the 3rd embodiment, the control of selector 72 outputs Signal C ' processed (any of speed control signal cv and position control signal cx) is transfused to speed loading estimation device 60. Like this, the adder 38 that needs in the 3rd embodiment just can dispense by ripple, thereby simplifies the structure. This To utilize Figure 13 and Figure 14 to be illustrated.

Different from Fig. 9 is to input to the signal that a speed is loaded estimation device 60. By voltage detector 11 The control signal C ' of the voltage signal Va that produces and selector 72 outputs is transfused to speed loading estimation device 60.

Figure 14 is a block diagram, has shown the whole of positioning control system when switch 74 is connected to terminal b Body structure. The part 61 of being surrounded by chain-dotted line is that a speed is loaded estimation device 60 squares, and this with scheme The block diagram of the square 61 in 8 is identical. Similar, the part 47 of being surrounded by chain-dotted line is a synthesizer 15 Square.

In the 4th embodiment, load estimation device 60 owing to used with the speed of square 61 expressions among Fig. 8, Compare with the 3rd above-mentioned embodiment, the required structure that is used for speed loading estimation device 60 and synthesizer 15 The number of adder just can be reduced. Therefore, use and compare simpler structure with the 3rd embodiment and just can realize Identical effect. When realizing speed control system with hardware such as an analog circuit, can simplify circuit structure. When realizing speed control system with software, the calculating time delay in the time of can shortening computing.

Although so realizing in the control, speed control mode and positioning control pattern are by according to the above-mentioned the 3rd and the Switch order among four embodiment is switched, and speed is loaded the control parameter of estimating device just needn't be according to each mould Formula is done special conversion. Therefore, just might consist of control system with simple structure.

(the 5th embodiment)

In the 5th embodiment, a speed estimating signal vest is fed to register control. This will utilize figure 15 illustrate.

The difference that shows among this embodiment and Fig. 9 is that register control 91 is not only imported a location mistake Difference signal ε output, and import a speed estimating signal that comes from 12 outputs of speed loading estimation device Vest, and based on positioning control signal cx of this two signals generations.

In the 3rd embodiment, the positioner 71 of expression in the square 76 of Figure 10 is carried out table in equation 18 The filtering of the transfer function Gx (S) that shows is processed, for the treatment of the site error of the PID control of carrying out the read/write head location Signal epsilon, and produce positioning control signal cx.

Second difference processing by realization positioning error signal e in equation 18 brackets come stable position control System. If target trajectory position r is defined as constant, the difference processing in the dependent equation 17 just can be with the side Journey 19 expressions.

[equation 19]

              s*ε＝s(r-X)＝-vest

When with equation 18, a position control signal cx is as follows.

[equation 20] $\mathrm{cx}=\mathrm{Gx}\left(s\right)\&CenterDot;\mathrm{\&epsiv;}=\mathrm{Kx}\&CenterDot;\&lsqb;1+\mathrm{Td}\&CenterDot;s+\frac{1}{\mathrm{Ti}\&CenterDot;s}\&rsqb;\&CenterDot;s=\mathrm{Kx}\&CenterDot;\{\&lsqb;1+\frac{1}{\mathrm{Ti}\&CenterDot;s}\&rsqb;\&CenterDot;\mathrm{\&epsiv;}+\mathrm{Td}\&CenterDot;s\&CenterDot;\mathrm{\&epsiv;}\}$

If s. ε is replaced with " vest " that represent in the equation 19, then

[equation 21] $\mathrm{cx}=\mathrm{Kx}\&CenterDot;\{\&lsqb;1+\frac{1}{\mathrm{Ti}\&CenterDot;s}\&rsqb;\&CenterDot;\mathrm{\&epsiv;}+\mathrm{Td}\&CenterDot;\mathrm{vest}\}=\mathrm{Kx}\&CenterDot;\&lsqb;1+\frac{1}{\mathrm{Ti}\&CenterDot;s}\&rsqb;\&CenterDot;\mathrm{\&epsiv;}+\mathrm{Kx}\&CenterDot;\mathrm{Td}\&CenterDot;\mathrm{vest}$

Be established.

Positioner 91 multiply by speed by Kx (l+l/Ti) be multiply by position error signal ε with Kx*Td Degree estimating signal vest and calculate difference between the two and produce a position control signal cx. Therefore, exist Realized PID control when location and control.

With regard to the 3rd embodiment, the servo-information on disc 1 is read by read/write head 2, by position detector 70 The position error signal ε of conversion is subjected to difference processing, stablizes by this this positioning control system. Yet, because The position signalling of record was read by each sector from disc in the past, thereby the position error signal that reappears from disc ε is not a continuous signal, but the discrete signal of a sampling period T. Therefore, position error signal ε Difference processing be actually a position error signal ε (n-1) and current getting by calculating last sampling The discrepancy delta ε of a position error signal ε (n) of sample (=ε (n)-ε (n-1)), and use this discrepancy delta ε realizes divided by sampling period T. Therefore, the difference value that is subjected to difference processing is subjected to being included in the position easily The impact of the noise in the error signal. Particularly (wherein read/write head is allowed to shift to target when the tracking pattern When track) being converted into tracing mode (wherein, read/write head is allowed to the tracking target track), just produce Big error signal. As a result, cause positioning control system not stablize, following function is malfunctioning and to data The access time of moment when being read is extended.

Thus, in the 5th embodiment, the difference value of the position error signal ε that obtains from disc and read/write head (Td*S* ε) (seeing formula 20) is not used, but used by the value of taking advantage of (Kx*Td*vest).

As a result, this speed estimating signal vest is not easy to be subjected to the impact of noise, and this signal does not rely on the sector sampling In the cycle, therefore when the tracking target track, can not produce fault, until the access time energy of the moment that data read Enough be shortened.

When the external force that is subjected to when actuator 9 is very little, the magnetic read-write head speed during seek operation or follow the tracks of action The time the location of magnetic read-write head can only use by speed and load the speed estimating signal vest that estimation device 12 produces Control, load estimating signal τ dest and needn't use. In this case, no longer need synthesizer 15, Just simplified the structure of this disk sheet storage arrangement.

In the superincumbent explanation, speed estimating signal vest inputs to the Position Control of the device that shows based on Fig. 9 Device 91, but speed estimating signal vest also can be transfused to the positioner based on device shown in Figure 13 91.

In the superincumbent description, load estimating signal τ dest and can estimate that the bearing that is applied on the actuator 9 rubs The elastic force of wiping power and FPC, estimating signal τ dest can also estimate because external cause is applied to device but load On the actuator 9 that causes of shock and vibration on the inertia force that is subjected to, and this inertia force can certainly be disappeared Remove. Therefore, according to the present invention, can realize a disk sheet storage arrangement with excellent shock resistance.

In each above-mentioned embodiment, the multiplier sum-product intergrator can be by analog filter or digital filter Consist of. In each embodiment, by a microcomputer, a part that consists of this speed control system can To be realized by software.

Although the present invention is carried out explanation based on the disk sheet storage arrangement among each embodiment, this Brightly be not limited to this, the present invention can also be applied to optical disc apparatus, magnetooptical disc device etc.

Described above think at present most preferred embodiment of the present invention, but should understand in spirit of the present invention With can make different modifications in the scope, additional claims attempt to comprise these all modifications.

Claims (26)

1. disc storage device comprises:

An actuator is used for respect to the one disc read/write head of packing into/unload;

The driver of an above-mentioned actuator;

A voltage-level detector is used to detect the voltage that produces and exports a voltage signal when above-mentioned actuator is driven;

A speed is loaded the estimation device, be used for from a drive signal and the above-mentioned voltage signal of above-mentioned voltage-level detector translational speed that estimates above-mentioned read/write head and the loading level of disruption that is applied on the above-mentioned read/write head, and export a speed estimating signal and a loading estimating signal; With

A speed control is used for producing and export a speed control signal from a speed command signal and above-mentioned speed estimating signal;

Wherein above-mentioned drive signal is to obtain by synthetic above-mentioned speed control signal and above-mentioned loading estimating signal.

2. according to the disc storage device of claim 1, wherein above-mentioned speed is loaded the estimation device and is comprised:

A comparer, a voltage signal that is detected by above-mentioned voltage-level detector is input to wherein;

First multiplier is used for multiply by above-mentioned drive signal with first coefficient;

Second multiplier is used for multiply by with second coefficient output of comparer;

First integrator is used for the output of the above-mentioned comparer of integration;

The second integral device is used for following value is carried out integration, and said value obtains from deduct an additive value from the output of first multiplier, and described additive value obtains the output of second multiplier and the output addition of first integrator,

Wherein, the output of more above-mentioned voltage signal of above-mentioned comparer and above-mentioned second integral device, and the result who exports a comparison gives above-mentioned second multiplier and first integrator.

3. according to the disc storage device of claim 1, wherein under the state that height-the frequency band composition is cut off, above-mentioned speed is loaded the above-mentioned loading estimating signal of estimation device output.

4. disc storage device comprises:

An actuator is used for respect to the one disc read/write head of packing into/unload;

The driver of an above-mentioned actuator;

A voltage-level detector is used to detect the voltage that produces and exports a voltage signal when above-mentioned actuator is driven;

A speed is loaded the estimation device, is used for estimating the translational speed and the loading level of disruption that is applied on the read/write head of above-mentioned read/write head from speed control signal and above-mentioned voltage signal, and exports a speed estimating signal and a loading estimating signal;

A speed control is used for producing and export above-mentioned speed control signal from a speed command signal and above-mentioned speed estimating signal;

Drive signal in the wherein above-mentioned driver is to obtain by synthetic above-mentioned speed control signal and above-mentioned loading estimating signal.

5. according to the disc storage device of claim 4, wherein above-mentioned speed is loaded the estimation device and is comprised:

A comparer, a voltage signal that is detected by above-mentioned voltage-level detector is input to wherein;

First multiplier is used for multiply by above-mentioned speed control signal with first coefficient;

Second multiplier is used for multiply by with second coefficient output of comparer;

First integrator is used for the output of the above-mentioned comparer of integration;

The second integral device is used for the value that output from above-mentioned first multiplier of integration deducts the output acquisition of above-mentioned second multiplier,

Wherein, the output of more above-mentioned voltage signal of above-mentioned comparer and above-mentioned second integral device, and the result who exports a comparison gives above-mentioned second multiplier and first integrator.

6. according to the disc storage device of claim 4, wherein under the state that height-the frequency band composition is cut off, above-mentioned speed is loaded the above-mentioned loading estimating signal of estimation device output.

7. disc storage device comprises:

An actuator is used for respect to the one disc read/write head of packing into/unload;

The driver of an above-mentioned actuator;

A voltage-level detector is used to detect the voltage that produces and exports a voltage signal when above-mentioned actuator is driven;

A speed estimator is used for estimating the translational speed of above-mentioned read/write head according to a drive signal and the above-mentioned voltage signal of above-mentioned driver, and exports a speed estimating signal;

A speed control is used for producing a speed control signal according to a speed command signal and above-mentioned speed estimating signal, and is output as above-mentioned drive signal;

8. according to the disc storage device of claim 7, wherein above-mentioned speed estimator comprises:

A comparer, a voltage signal that is detected by above-mentioned voltage-level detector is input to wherein;

First multiplier is used for multiply by drive signal with first coefficient;

Second multiplier is used for multiply by with second coefficient output of comparer;

First integrator is used for the output of the above-mentioned comparer of integration; And

The second integral device is used for following value is carried out integration, and said value obtains from deduct an additive value from the output of first multiplier, and described additive value obtains the output of second multiplier and the output addition of first integrator;

Wherein, the output of more above-mentioned voltage signal of above-mentioned comparer and above-mentioned second integral device, and the result who exports a comparison gives above-mentioned second multiplier and first integrator.

9. disc storage device comprises:

An actuator is used for moving a read/write head with respect to one disc;

The driver of an above-mentioned actuator;

A voltage-level detector is used to detect the voltage that produces and exports a voltage signal when above-mentioned actuator is driven;

A speed is loaded the estimation device, be used for the loading level of disruption that estimates the translational speed of above-mentioned read/write head and be applied to above-mentioned read/write head from a drive signal and the above-mentioned voltage signal of above-mentioned driver, and export a speed estimating signal and one and load estimating signal;

A speed control is used for producing and export a speed control signal from above-mentioned speed command signal and above-mentioned speed estimating signal;

A position detector is used for producing and export an error signal that is detected by above-mentioned read/write head corresponding to the current location of the above-mentioned read/write head that obtains from servo-information, and this servo-information is to be stored in advance in the above-mentioned disc;

A register control is used for producing and export a positioning control signal corresponding to above-mentioned error signal; And

A selector switch, above-mentioned speed control signal and positioning control signal are imported into wherein and go, and according to a switch order, a selected and output in the above-mentioned control signal.

Wherein above-mentioned drive signal obtains by synthetic control signal and above-mentioned loading estimating signal by above-mentioned selector switch output.

10. according to the disc storage device of claim 9, wherein above-mentioned speed is loaded the estimation device and is comprised:

A comparer, a voltage signal that is detected by above-mentioned voltage-level detector is input to wherein;

First multiplier is used for multiply by drive signal with first coefficient;

Second multiplier is used for multiply by with second coefficient output of comparer;

First integrator is used for the output of the above-mentioned comparer of integration; And

The second integral device is used for following value is carried out integration, and said value obtains from deduct an additive value from the output of first multiplier, and described additive value obtains the output of second multiplier and the output addition of first integrator;

Wherein, the output of more above-mentioned voltage signal of above-mentioned comparer and above-mentioned second integral device, and the result who exports a comparison gives above-mentioned second multiplier and first integrator.

11. according to the disc storage device of claim 9, wherein above-mentioned positioner is based on loading the above-mentioned position control signal of above-mentioned speed estimating signal generation that the estimation device is exported from the above-mentioned error signal of above-mentioned position detector output with from above-mentioned speed.

12. according to the disc storage device of claim 9,

Wherein above-mentioned speed is loaded the control frequency band that the control frequency band of estimating device is set to larger than above-mentioned positioner or above-mentioned speed control;

13. according to the disc storage device of claim 9, wherein above-mentioned actuator is with respect to above-mentioned disc carrier and the above-mentioned read/write head of unloading.

14. according to the disc storage device of claim 9, wherein when above-mentioned disk apparatus is not started, above-mentioned actuator is placed on the spare area outside the data field that is formed at above-mentioned disc.

15. a disc storage device comprises:

An actuator is used for moving a read/write head with respect to one disc;

The driver of an above-mentioned actuator;

A voltage-level detector is used to detect the voltage that produces and exports a voltage signal when above-mentioned actuator is driven;

A speed control is used for producing and export a speed control signal from a speed command signal and above-mentioned speed estimating signal;

A position detector is used for producing and export an error signal that is detected by above-mentioned read/write head corresponding to the current location of the above-mentioned read/write head that obtains from servo-information;

A positioner is used for producing and export a positioning control signal corresponding to above-mentioned error signal; And

A selector switch, above-mentioned speed control signal and positioning control signal are imported into wherein and go, and according to one in the above-mentioned control signal of switch order selected and output;

And a speed is loaded the estimation device, be used for from above-mentioned voltage signal and the loading level of disruption estimating the translational speed of above-mentioned read/write head and be applied to above-mentioned read/write head by a control signal of above-mentioned selector switch output, and export a speed estimating signal and one and load estimating signal;

Wherein above-mentioned drive signal obtains by synthetic control signal and above-mentioned loading estimating signal by above-mentioned selector switch output.

16. according to the disc storage device of claim 15, wherein above-mentioned speed is loaded the estimation device and is comprised:

A comparer, a voltage signal that is detected by above-mentioned voltage-level detector is input to wherein;

First multiplier is used for multiply by control signal with first coefficient;

Second multiplier is used for multiply by with second coefficient output of comparer;

First integrator is used for the output of the above-mentioned comparer of integration; And

The second integral device is used for the value that output from above-mentioned first multiplier of integration deducts the output acquisition of second multiplier;

Wherein, the output of more above-mentioned voltage signal of above-mentioned comparer and above-mentioned second integral device, and the result who exports a comparison gives above-mentioned second multiplier and first integrator.

17. disc storage device according to claim 15, wherein, above-mentioned positioner is based on loading the above-mentioned position control signal of above-mentioned speed estimating signal generation that the estimation device is exported by the above-mentioned error signal of above-mentioned position detector output with by above-mentioned speed;

18. according to the disc storage device of claim 15, wherein, above-mentioned speed is loaded the control frequency band that the control frequency band of estimating device is set to larger than above-mentioned positioner or above-mentioned speed control.

19. according to the disc storage device of claim 15, wherein above-mentioned actuator is with respect to above-mentioned disc carrier and the above-mentioned read/write head of unloading.

20. according to the disc storage device of claim 15, wherein, when above-mentioned disk apparatus was not started, above-mentioned actuator was placed on the spare area outside the data field that is formed at above-mentioned disc.

21. a disc storage device comprises:

An actuator is used for moving a read/write head with respect to one disc;

The driver of an above-mentioned actuator;

A voltage-level detector is used to detect the voltage that produces and exports a voltage signal when above-mentioned actuator is driven;

A speed estimator is used for the translational speed of estimating above-mentioned read/write head from a drive signal and the above-mentioned voltage signal of above-mentioned voltage-level detector, and produces and export a speed estimating signal;

A speed control is used for producing and export a speed control signal by a speed command signal and above-mentioned speed estimating signal;

A position detector is used to produce and export an error signal that is detected by above-mentioned read/write head, and this signal is corresponding to the current location of the above-mentioned read/write head that obtains according to servo-information;

A positioner is used for from producing and export a position control signal by error signal of above-mentioned position detector output with by a speed estimating signal of above-mentioned speed estimator output; And

A selector switch, above-mentioned speed control signal and positioning control signal are imported into wherein and go, and in the above-mentioned control signal one is selected, and above-mentioned selected control signal is used as above-mentioned drive signal output.

22. according to the disc storage device of claim 21, wherein above-mentioned speed estimator comprises

A comparer, a voltage signal that is detected by above-mentioned voltage-level detector is input to wherein;

First multiplier is used for multiply by drive signal with first coefficient;

Second multiplier is used for multiply by with second coefficient output of comparer;

First integrator is used for the output of the above-mentioned comparer of integration; And

The second integral device is used for following value is carried out integration, and said value obtains from deduct an additive value from the output of first multiplier, and described additive value obtains the output of second multiplier and the output addition of first integrator; And

Wherein, the output of more above-mentioned voltage signal of above-mentioned comparer and above-mentioned second integral device, and the result who exports a comparison gives above-mentioned second multiplier and first integrator.

23. disc storage device according to claim 21, wherein, above-mentioned positioner is based on loading the above-mentioned position control signal of above-mentioned speed estimating signal generation that the estimation device is exported by the above-mentioned error signal of above-mentioned position detector output with from above-mentioned speed;

24. according to the disc storage device of claim 21, wherein, the control frequency band of above-mentioned speed estimator is configured to the control frequency band greater than above-mentioned positioner or above-mentioned speed control.

25. according to the disc storage device of claim 21, wherein, above-mentioned actuator is with respect to above-mentioned disc carrier and the above-mentioned read/write head of unloading.

26. according to the disc storage device of claim 21, wherein, when above-mentioned disc storage device was not started, above-mentioned actuator was placed on the spare area outside the data field that is formed at above-mentioned disc.

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